EP3597933B1 - Procédé d'entraînement et dispositif d'entraînement pour vérin à pression de fluide - Google Patents

Procédé d'entraînement et dispositif d'entraînement pour vérin à pression de fluide Download PDF

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Publication number
EP3597933B1
EP3597933B1 EP18867312.3A EP18867312A EP3597933B1 EP 3597933 B1 EP3597933 B1 EP 3597933B1 EP 18867312 A EP18867312 A EP 18867312A EP 3597933 B1 EP3597933 B1 EP 3597933B1
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EP
European Patent Office
Prior art keywords
cylinder chamber
fluid
switching valve
cylinder
fluid pressure
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP18867312.3A
Other languages
German (de)
English (en)
Other versions
EP3597933A1 (fr
EP3597933A4 (fr
Inventor
Satoru Ito
Gen Tsuchiya
Masayuki Ishikawa
Hisashi Yajima
Takehiko Kanazawa
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SMC Corp
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SMC Corp
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Publication date
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Publication of EP3597933A1 publication Critical patent/EP3597933A1/fr
Publication of EP3597933A4 publication Critical patent/EP3597933A4/fr
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/024—Systems essentially incorporating special features for controlling the speed or actuating force of an output member by means of differential connection of the servomotor lines, e.g. regenerative circuits
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/046—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed depending on the position of the working member
    • F15B11/048—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed depending on the position of the working member with deceleration control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/06—Servomotor systems without provision for follow-up action; Circuits therefor involving features specific to the use of a compressible medium, e.g. air, steam
    • F15B11/064—Servomotor systems without provision for follow-up action; Circuits therefor involving features specific to the use of a compressible medium, e.g. air, steam with devices for saving the compressible medium
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
    • F15B2211/3058—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve having additional valves for interconnecting the fluid chambers of a double-acting actuator, e.g. for regeneration mode or for floating mode
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/31—Directional control characterised by the positions of the valve element
    • F15B2211/3144—Directional control characterised by the positions of the valve element the positions being continuously variable, e.g. as realised by proportional valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
    • F15B2211/3157—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line
    • F15B2211/31576—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line having a single pressure source and a single output member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7053—Double-acting output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/85—Control during special operating conditions
    • F15B2211/853—Control during special operating conditions during stopping
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/885—Control specific to the type of fluid, e.g. specific to magnetorheological fluid
    • F15B2211/8855—Compressible fluids, e.g. specific to pneumatics

Definitions

  • the present invention relates to a driving method and a driving apparatus for driving a fluid pressure cylinder under operation of supplying fluid.
  • JP 2018-054117 A the applicant of the present application proposes a driving apparatus for driving a fluid pressure cylinder under operation of supplying fluid.
  • a driving step of driving the piston to move in one direction the fluid pressure cylinder is operated with a large output, and in a returning step of driving the piston to move in a direction opposite to the direction in the driving step, the output is suppressed to operate the fluid pressure cylinder rapidly.
  • US 2018/0017 087 A1 describes a hydraulic actuator control circuit, wherein pressure sensors detecting the rod-side pressure and the head-side pressure are used to control the meter-in valve, the meter-out selector valve and the recycling control valve.
  • the meter-in valve, the meter-out selector valve and the recycling control valve are proportional valves.
  • the recycling control valve is closed in the contracting stroke and open in the extending stroke only.
  • the meter-out selector valve is controlled such that it provides a discharge flow rate obtained by subtracting the recycling flow rate from the corresponding flow rate.
  • JP H08 193 601 A describes a cylinder control circuit according to the preamble of claim 1 comprising an electromagnetic valve connected with cylinder chambers via respective main pipes.
  • a bypass pipe is provided between the cylinder chambers wherein a 2/2 solenoid valve switches the bypass pipe into a communicated or a non-communicated state.
  • a position detection sensor is used to switch solenoid valve at a predetermined timing.
  • EP 2 128 453 A1 describes a hydraulic control circuit with a hydraulic cylinder for raising and lowering heavy loads.
  • a recovery control valve is disposed in a recovery oil passage for supplying a discharge oil from a weight-holding side to an anti-weight holding-side oil chamber.
  • a recovery control valve is controlled using pilot pressure input into pilot port. The recovery control valve is controlled based on the target rotation speed set by an accelerator dial.
  • the driving apparatus is applicable to the fluid pressure cylinder.
  • the driving apparatus includes a switching valve which can switch between a plurality of fluid channels, and an air supply source for supplying a high pressure air. Under switching operation of the switching valve, the high pressure air is supplied from the air supply source to a head-side cylinder chamber of the fluid pressure cylinder, and concurrently, air in the rod-side cylinder chamber is discharged from an exhaust port through a throttle valve.
  • a check valve is provided between a fifth port in the switching valve and the head-side cylinder chamber for allowing air to flow from the head-side cylinder chamber to the switching valve. Further, in the returning step of the fluid pressure cylinder, when air is discharged from the head-side cylinder chamber, part of the air is supplied from the head-side cylinder chamber to the rod-side cylinder chamber through the switching valve.
  • a general object of the present invention is to reduce consumption of fluid and shorten the time required for a returning step, by utilizing discharged fluid to drive the fluid pressure cylinder.
  • a driving method of driving a fluid pressure cylinder under operation of supplying fluid is provided.
  • the fluid in the driving step of driving the fluid pressure cylinder, the fluid is supplied from the supply source to one of the cylinder chambers in the fluid pressure cylinder, and the fluid is discharged from the other of the cylinder chambers to the outside. Further, in the returning step of the fluid pressure cylinder, part of the fluid accumulated in the one cylinder chamber is supplied to the other cylinder chamber, to thereby move the piston in the other direction by a predetermined distance. Thereafter, the fluid is supplied from the supply source to the other cylinder chamber to thereby further move the piston in the other direction.
  • the fluid discharged from the one cylinder chamber is utilized to move the piston, so that it is possible to reduce the fluid consumption in comparison with the case where the returning operation is performed by utilizing only the fluid from the supply source. Further, in the returning step, the piston starts to move, and at the same time, it is possible to supply the fluid from the one cylinder chamber to the other cylinder chamber to thereby increase the pressure in the other cylinder chamber while decrease the pressure in the one cylinder chamber. Therefore, it is possible to perform the retuning operation of the piston rapidly.
  • a driving apparatus 10 for a fluid pressure cylinder is applied to a double acting fluid pressure cylinder 12.
  • the driving apparatus 10 includes a switching valve (first switching valve) 14 for switching between a supply state of supplying air (fluid) to the fluid pressure cylinder 12 and a discharge state of discharging air (fluid) from the fluid pressure cylinder 12, a bypass pipe (connection channel) 20 for connecting a head-side cylinder chamber 16 and a rod-side cylinder chamber 18 in the fluid pressure cylinder 12, and a bypass switching valve (second switching valve) 22 for switching a communication state of the bypass pipe 20.
  • first switching valve switching valve
  • the fluid pressure cylinder 12 includes a hollow cylinder body 24, a piston 26 capable of moving back and forth inside the cylinder body 24, and a piston rod 28 coupled to the piston 26.
  • the other end of the piston rod 28 protrudes outward from the cylinder body 24, and is exposed to the outside.
  • the cylinder body 24 is partitioned into two chambers by the piston 26 provided inside the cylinder body 24.
  • the cylinder body 24 includes the head-side cylinder chamber 16 positioned between one end of the cylinder body 24 (in the direction indicated by the arrow A) and the piston 26, and the rod-side cylinder chamber 18 containing the piston rod 28, formed between the other end of the cylinder body 24 (in the direction indicated by the arrow B) and the piston 26.
  • the cylinder body 24 is provided with a first pressure sensor (pressure detection unit) 30 capable of detecting the pressure of air in the head-side cylinder chamber 16, and a second pressure sensor (pressure detection unit) 32 capable of detecting the pressure of air in the rod-side cylinder chamber 18.
  • the detected pressures P A , P B of the air are outputted from the first and second pressure sensors 30, 32 to a controller C.
  • the piston rod 28 moves together with the piston 26 toward the other end of the cylinder body 24 (in the direction indicated by the arrow B), and the piston rod 28 protrudes outward from the cylinder body 24.
  • the switching valve 14 is a servo valve having 5 ports which are opened/closed in accordance with, e.g., a control signal from the controller C.
  • a first port 34 of the switching valve 14 is connected to the head-side cylinder chamber 16 of the fluid pressure cylinder 12 through a first pipe 36, and a second port 38 thereof is connected to the rod-side cylinder chamber 18 through a second pipe 40.
  • first pipe 36 and the second pipe 40 are connected together by a bypass pipe 20.
  • An air tank (not shown) may be provided at an intermediate position of the second pipe 40, for substantially increasing the volume of the rod-side cylinder chamber 18.
  • a third port 42 of the switching valve 14 is connected to a first exhaust port 46 communicating with the outside through a third pipe 44.
  • a fourth port 48 thereof is connected to an air supply source (supply source) 52 for supplying high-pressure air through a fourth pipe 50, and a fifth port 54 thereof is connected to a second exhaust port 58 communicating with the outside through a fifth pipe 56.
  • supply source supply source
  • the switching valve 14 When the switching valve 14 is placed in a first switching position P1 shown in FIG. 1 , the first port 34 and the fourth port 48 communicate with each other, so that the air supply source 52 connected to the fourth port 48 and the head-side cylinder chamber 16 of the fluid pressure cylinder 12 are placed in communication with each other. Further, the second port 38 and the fifth port 54 communicate with each other, so that the rod-side cylinder chamber 18 and the second exhaust port 58 are connected and communicate with each other.
  • the switching valve 14 when the switching valve 14 is placed in a second switching position P2 shown in FIG. 2 , the first port 34 and the second port 38 are not connected to any of the third to fifth ports 42, 48, 54. Therefore, supply of air from the air supply source 52 to the fluid pressure cylinder 12, and discharge of air from the fluid pressure cylinder 12 are interrupted and stopped by the switching valve 14.
  • the switching valve 14 when the switching valve 14 is placed in a third switching position P3 shown in FIG. 4 , the first port 34 and the third port 42 communicate with each other, and thus the head-side cylinder chamber 16 and the first exhaust port 46 communicate with each other. Further, the second port 38 and the fourth port 48 communicate with each other, and thus the air supply source 52 and the rod-side cylinder chamber 18 of the fluid pressure cylinder 12 are connected to and communicate with each other.
  • the above switching valve 14 can successively switch between the first to third switching positions P1 to P3 by a control signal from the controller C.
  • the bypass switching valve 22 is a solenoid valve having two ports which can be opened/closed in accordance with a control signal from the controller C.
  • a first bypass port 60 is connected to an upstream channel 62 of the bypass pipe 20, and thus communicates with the first pipe 36.
  • a second bypass port 64 is connected to a downstream channel 66 of the bypass pipe 20, and is thus connected to and communicates with the second pipe 40.
  • the bypass switching valve 22 At a non-energized state, the bypass switching valve 22 is in a closed state where communication between the upstream channel 62 and the downstream channel 66 is interrupted by a valve plug (not shown).
  • a valve plug (not shown).
  • bypass switching valve 22 and the switching valve 14 are driven under control of one controller C.
  • the driving apparatus 10 of the fluid pressure cylinder 12 basically has the above structure, and operation and working effects thereof will be described below.
  • a state as shown in FIG. 1 i.e., the switching valve 14 is in the first switching position P1
  • the bypass switching valve 22 is placed in the closed state
  • the piston rod 28 is pulled to a position closest to the cylinder body 24 (in the direction indicated by the arrow A), is assumed as an initial state.
  • the driving step is performed to cause the fluid pressure cylinder 12 to perform a pushing operation from the initial state
  • air from the air supply source 52 flows to the fourth port 48 and the first port 34 of the switching valve 14 through the fourth pipe 50, the air is supplied from the first pipe 36 to the head-side cylinder chamber 16 of the fluid pressure cylinder 12.
  • bypass switching valve 22 since the bypass switching valve 22 is in a closed state of interrupting communication of the bypass pipe 20, the air flowing through the first pipe 36 does not flow toward the second pipe 40 through the bypass pipe 20.
  • the piston 26 is pushed toward the other end of the cylinder body 24 (in the direction indicated by the arrow B), and moves together with the piston rod 28.
  • the air in the rod-side cylinder chamber 18 is discharged through the second pipe 40, and the air is discharged from the second exhaust port 58 to the outside through the second port 38 and the fifth port 54 of the switching valve 14, and the fifth pipe 56.
  • the switching valve 14 is switched from the first switching position P1 to the second switching position P2, to thereby stop supply of air from the air supply source 52 to the head-side cylinder chamber 16. Further, since discharge of air from the rod-side cylinder chamber 18 to the second exhaust port 58 is stopped concurrently, the piston rod 28 is held in a state of being extended to the maximum position.
  • the bypass switching valve 22 is switched from the closed state to the open state shown in FIG. 3 , by the control signal from the controller C.
  • the first bypass port 60 and the second bypass port 64 are placed in communication with each other. Accordingly, the upstream channel 62 and the downstream channel 66 of the bypass pipe 20 communicate with each other.
  • the high-pressure air in the head-side cylinder chamber 16 supplied from the air supply source 52 flows toward a first bypass port 60 of the bypass switching valve 22 through the first pipe 36 and the upstream channel 62, and then supplied to the rod-side cylinder chamber 18 under the atmospheric pressure, i.e., low pressure, through the second bypass port 64, the downstream channel 66, and the second pipe 40.
  • the head-side cylinder chamber 16 and the rod-side cylinder chamber 18 are caused to communicate with the bypass pipe 20.
  • the air in the head-side cylinder chamber 16 and the air in the rod-side cylinder chamber 18 the air flows from the head-side cylinder chamber 16 toward the rod-side cylinder chamber 18.
  • the piston 26 is pushed toward one end of the cylinder body 24 (in the direction indicated by the arrow A) by the air supplied to the rod side cylinder chamber 18, and the piston 26 starts to move. With movement of the piston 26, the piston rod 28 moves together, and is then pulled into the cylinder body 24.
  • the exhaust air discharged from the head-side cylinder chamber 16 is supplied to the rod-side cylinder chamber 18.
  • the bypass pipe 20 and the bypass switching valve 22 jointly function as an exhaust fluid supply unit for supplying the exhaust air from the head-side cylinder chamber 16 to the rod-side cylinder chamber 18.
  • the pressure P A of the head-side cylinder chamber 16 and the pressure P B of the rod-side cylinder chamber 18 detected by the first pressure sensor 30 and the second pressure sensor 32 are compared with each other.
  • the bypass switching valve 22 is switched into the closed state to thereby interrupt communication of the bypass pipe 20, and the control signal is outputted from the controller C to the switching valve 14 for thereby switching the switching valve 14 from the second switching position P2 to the third switching position P3.
  • the supply of the air from the head-side cylinder chamber 16 to the rod-side cylinder chamber 18 through the bypass pipe 20 is stopped, and the air from the air supply source 52 is supplied from the second pipe 40 to the rod-side cylinder chamber 18 through the fourth port 48 and the second port 38.
  • the piston 26 is pushed further toward the one end of the cylinder body 24 (in the direction indicated by the arrow A), by the air supplied from the air supply source 52 instead of the air discharged from the head-side cylinder chamber 16, and moves continuously.
  • the first port 34 and the third port 42 communicate with each other, and the air remaining in the head-side cylinder chamber 16 is discharged to the outside from the first exhaust port 46 through the first pipe 36 and the third pipe 44. Then, the air supplied from the air supply source 52 to the rod-side cylinder chamber 18 moves the piston 26 further toward the one end of the cylinder body 24 (in the direction indicated by the arrow A), and the piston rod 28 shown in FIG. 1 returns to the initial state where the piston rod 28 is pulled into the cylinder body 24 to the greatest extent.
  • the bypass pipe 20 connecting the head-side cylinder chamber 16 and the rod-side cylinder chamber 18 is provided, and the bypass switching valve 22 capable of switching the communication state of the bypass pipe 20 is provided. Then, when the piston rod 28 is pulled from the pushed state where the piston rod 28 protrudes to the outside of the cylinder body 24, the bypass switching valve 22 is placed in the open state to thereby supply the air discharged from the head-side cylinder chamber 16 to the rod-side cylinder chamber 18 through the bypass pipe 20.
  • the piston 26 and the piston rod 28 are driven utilizing the air discharged from the head-side cylinder chamber 16.
  • the exhaust air from the head-side cylinder chamber 16 is supplied to thereby increase the pressure in the rod-side cylinder chamber 18 and decrease the pressure in the head-side cylinder chamber 16 concurrently. Therefore, it becomes possible to perform returning operation of the fluid pressure cylinder 12 rapidly.
  • the piston 26 is driven by utilizing the exhaust air. In this manner, it becomes possible to reduce air consumption, and further reduce the time required for the returning step of returning the piston 26 to the initial position.
  • bypass pipe 20 connecting the head-side cylinder chamber 16 and the rod-side cylinder chamber 18 in the fluid pressure cylinder 12, and the bypass switching valve 22 for switching the communication state of the bypass pipe 20 are provided.
  • the servo valve is used as the switching valve 14, at the time of performing the driving step and the returning step repeatedly and successively, the stroke quantity (displacement quantity) of the fluid pressure cylinder 12 can be minimized suitably.
  • the welding gun 68 includes a gun body 70, an arm 72 extending from the gun body 70, and a first electrode 74 provided at a distal end of the arm 72. Further, in the welding gun 68, the fluid pressure cylinder 12 is held by the gun body 70, the piston rod 28 is provided so as to be movable toward and away from the first electrode 74, and a second electrode 76 is provided at the other end of the piston rod 28.
  • the second electrode 76 is provided to face the first electrode 74, and moves closer to or away from the first electrode 74 under the driving operation of the fluid pressure cylinder 12. Further, the first electrode 74 and the second electrode 76 are electrically connected to a power supply (not shown) and a transformer (not shown) so that the first electrode 74 and the second electrode 76 can be energized.
  • the switching speed of the switching valve 14 is adjusted between the first port 34 and the fourth port 48, and the quantity of air supplied to the fluid pressure cylinder 12 is adjusted. In this manner, it is possible to reduce the contact speed when the second electrode 76 contacts the workpiece W, and thus alleviate the impact at the time of contact.
  • the contact region of the workpiece W is melt by heat produced by the first electrode 74 and the second electrode 76, and the workpiece W is then welded.
  • the fluid pressure cylinder 12 is driven in the returning step, and under the switching operation of the bypass switching valve 22, the air discharged from the head-side cylinder chamber 16 is supplied to the rod-side cylinder chamber 18.
  • the pulling operation to move the piston 26 and the piston rod 28 toward one end is started.
  • the second electrode 76 moves away from the workpiece W and the first electrode 74.
  • the bypass switching valve 22 is switched to stop supply of the air from the head-side cylinder chamber 16 to the rod-side cylinder chamber 18, and air from the air supply source 52 is supplied to the rod-side cylinder chamber 18 under switching operation of the switching valve 14.
  • the piston 26 and the piston rod 28 are successively pushed toward one end (in the direction indicated by the arrow A) and move, so that the first electrode 74 and the second electrode 76 are further separated away from each other, and then spaced from each other at a predetermined interval.
  • the predetermined interval is determined such that the workpiece W can be inserted in between the first electrode 74 and the second electrode 76.
  • the predetermined positions and the predetermined movement distance of the piston 26 and the piston rod 28 are set so that movement of the second electrode 76 can be stopped at such a position that the first electrode 74 and the second electrode 76 are spaced at the above predetermined interval.
  • the workpiece W is moved relative to the welding gun 68, and a portion of the workpiece W to be newly welded is placed at a position facing the first electrode 74 and the second electrode 76. Then, as shown in FIG. 6 , the fluid pressure cylinder 12 is caused to perform pushing operation again to thereby grip and weld the new portion of the workpiece W.
  • the piston 26 is moved toward the one side (in the direction indicated by the arrow A) by a distance which makes it possible for the workpiece W to be inserted between the second electrode 76 and the first electrode 74, not moved completely to the one end of the head-side cylinder chamber 16.
  • the fluid pressure cylinder 12 may be provided with a displacement sensor 82 capable of detecting the displacement, along the axial direction (indicated by the arrows A and B), of the piston 26 in the cylinder body 24, instead of the first pressure sensor 30 and the second pressure sensor 32.
  • the fluid pressure cylinder 12 may be provided with position detection sensors 86a, 86b capable of detecting positions of the piston 26 in the axial direction (indicated by the arrows A and B).
  • an optical sensor may be used, and as the position detection sensors 86a, 86b, magnetic sensors capable of detecting magnetic change of a magnet (not shown) attached to the piston 26 may be used.
  • the driving apparatus 80 shown in FIG. 9A switches the bypass switching valve 22 based on displacement of the piston 26 detected by the displacement sensor 82, and switches the switching valve 14 from the first switching position P1 to the third switching position P3, in correspondence with the bypass switching valve 22. In this manner, it is possible to switch the supply state between the air discharged from the head-side cylinder chamber 16 to the rod-side cylinder chamber 18 and the air supplied from the air supply source 52 thereto.
  • the bypass switching valve 22 is switched based on the position of the piston 26 detected by the position detection sensors 86a, 86b, and the switching valve 14 is switched from the first switching position P1 to the third switching position P3 in correspondence with the bypass switching valve 22. In this manner, it is possible to switch the supply state between air discharged from the head-side cylinder chamber 16 to the rod-side cylinder chamber 18 and the air supplied from the air supply source 52 thereto.
  • drive control concerning when to switch the bypass switching valve 22 from the open state to the closed state may be performed, e.g., by measuring the time that has elapsed since the start of the returning step, and when the elapsed time reaches a predetermined time, outputting a control signal from the controller C to the bypass switching valve 22.
  • a solenoid valve having five ports may be used as a switching valve 92.
  • a pair of switching valves 102a, 102b each comprising a solenoid valve having three ports may be provided.
  • a first port 104a of one switching valve 102a is connected to the head-side cylinder chamber 16 of the fluid pressure cylinder 12 through a first pipe 36.
  • a second port 106a thereof communicates with the outside through an exhaust port 108a connected to a third pipe 44.
  • a third port 110a thereof is connected to an air supply source 52 through a fourth pipe 50.
  • a first port 104b of the other switching valve 102b is connected to the rod-side cylinder chamber 18 of the fluid pressure cylinder 12 through the second pipe 40.
  • a second port 106b thereof communicates with the outside through the exhaust port 108b connected to the third pipe 44.
  • a third port 110b thereof is connected to the air supply source 52 through the fourth pipe 50.
  • the switching valve 102a under energization operation by the controller C, the switching valve 102a is placed in the first switching position P1, so that the air supply source 52 and the head-side cylinder chamber 16 communicate with each other to thereby supply air.
  • the piston 26 and the piston rod 28 move toward the other end of the fluid pressure cylinder 12 (toward the pushing side in the direction indicated by the arrow B).
  • the other switching valve 102b is placed in the third switching position P3, so that the rod-side cylinder chamber 18 and the exhaust port 108b communicate with each other, to thereby discharge the air in the rod-side cylinder chamber 18 to the outside.
  • the other switching valve 102b is switched from the third switching position P3 to the first switching position P1.
  • the air supply source 52 and the rod-side cylinder chamber 18 communicate with each other, and the air is then supplied to the rod-side cylinder chamber 18.
  • the piston 26 and the piston rod 28 are moved toward the pulling side (in the direction indicated by the arrow A).
  • the one switching valve 102a is switched from the first switching position P1 to the third switching position P3.
  • the head-side cylinder chamber 16 communicates with the outside, and the air is then discharged from the exhaust port 108a.
  • a pair of switching valves 120a, 120b in the form of servo valves each having three ports shown in FIG. 11B may be adopted.
  • the present invention is not limited to the case where the bypass pipe 20 and the bypass switching valve 22 are provided separately from the fluid pressure cylinder 12 and the switching valve 14 as described above.
  • the bypass pipe 20 and the bypass switching valve 22 may be provided integrally with the cylinder body 24 of the fluid pressure cylinder 12, and as in the case of a driving apparatus 132 according to a modified embodiment shown in FIG. 12B , the bypass pipe 20 and the bypass switching valve 22 may be provided integrally with the switching valve 14.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Actuator (AREA)

Claims (8)

  1. Procédé d'entraînement pour l'entraînement d'un vérin à pression de fluide (12) par alimentation de fluide, comprenant :
    une étape d'entraînement pour le déplacement d'un piston (26) dans une direction ; et
    une étape de renvoi pour le déplacement du piston (26) dans une autre direction, dans lequel :
    dans l'étape d'entraînement, le fluide est alimenté à partir d'une source d'alimentation (52) vers une chambre de vérin (16) parmi des chambres de vérin dans le vérin à pression de fluide (12) tandis que le fluide est déchargé vers l'extérieur à partir d'une autre chambre de vérin (18) parmi les chambres de vérin ; et
    l'alimentation du fluide vers ladite chambre de vérin (16) et la décharge du fluide à partir de l'autre chambre de vérin (18) sont arrêtées une fois que le piston (26) a atteint une position prédéterminée, et
    l'étape de renvoi comprend les étapes suivantes :
    alimentation d'une partie du fluide accumulé dans ladite chambre de vérin (16) vers l'autre chambre de vérin (18), pour ainsi déplacer le piston (26) dans l'autre direction sur une distance prédéterminée ; et
    alimentation de fluide à partir de la source d'alimentation (52) vers l'autre chambre de vérin (18) pour ainsi déplacer davantage le piston (26) dans l'autre direction et décharger le fluide vers l'extérieur à partir de ladite chambre de vérin (16), caractérisé en ce que dans l'étape de renvoi, la commutation d'un état d'alimentation du fluide à partir de ladite chambre de vérin (16) vers l'autre chambre de vérin (18) est effectuée par une soupape de commutation (22),
    en ce qu'il est prévu des unités de détection de pression (30, 32) configurées pour détecter des pressions respectives de ladite chambre de vérin (16) et de l'autre chambre de vérin (18), et une opération de commutation de la soupape de commutation (22) est exécutée sur la base de pressions détectées par les unités de détection de pression (30, 32),
    en ce que, lorsque la pression détectée dans ladite chambre de vérin (16) devient égale à la pression détectée dans l'autre chambre de vérin (18) ou
    antérieurement, la soupape de commutation (22) est commutée dans l'état fermé pour ainsi arrêter l'alimentation du fluide à partir de ladite chambre de vérin (16) vers l'autre chambre de vérin (18), et
    en ce que l'alimentation de fluide à partir de la source d'alimentation (52) vers l'autre chambre de vérin (18) est démarrée après la commutation de la soupape de commutation (22) vers l'état fermé.
  2. Procédé d'entraînement selon la revendication 1, dans lequel :
    à une première position de la première soupape de commutation (14), ladite chambre de vérin (16) communique avec la source d'alimentation (52), et
    l'autre chambre de vérin (18) communique avec un orifice d'évacuation (58) ouvert sur l'extérieur ;
    à une deuxième position de la première soupape de commutation (14), la communication de la source d'alimentation (52) et de l'orifice d'évacuation (58) avec l'autre chambre de vérin (18) est interrompue, et
    la communication du canal de liaison (20) est établie par une opération de commutation d'une deuxième soupape de commutation (22) permettant ainsi à ladite chambre de vérin (16) et à l'autre chambre de vérin (18) de communiquer entre elles ; et
    à une troisième position de la première soupape de commutation (14), la communication du canal de liaison (20) est interrompue par la deuxième soupape de commutation (22), l'autre chambre de vérin (18) et la source d'alimentation (52) communiquent entre elles, et ladite chambre de vérin (16) communique avec l'extérieur.
  3. Dispositif d'entraînement (10) destiné à entraîner un vérin à pression de fluide (12) comportant un piston déplaçable (26), le dispositif d'entraînement (10) comprenant :
    une source d'alimentation (52) configurée pour alimenter du fluide vers le vérin à pression de fluide (12) ;
    une première soupape configurée pour réaliser une commutation entre un état d'alimentation du fluide vers le vérin à pression de fluide (12) et un état de décharge du fluide à partir du vérin à pression de fluide (12) ; et
    une unité d'alimentation de fluide d'évacuation configurée pour alimenter le fluide à partir d'une chambre de vérin (16) parmi les chambres de vérin dans le vérin à pression de fluide (12) vers une autre chambre de vérin (18) parmi les chambres de vérin,
    dans lequel l'unité d'alimentation de fluide d'évacuation comprend :
    un canal de liaison (20) configuré pour relier ladite chambre de vérin (16) et l'autre chambre de vérin (18) ; et
    une deuxième soupape configurée pour commuter un état d'écoulement du fluide dans le canal de liaison (20),
    des unités de détection de pression (30, 32) configurées pour détecter des pressions respectives de ladite chambre de vérin (16) et de l'autre chambre de vérin (18),
    caractérisé en ce que
    la première soupape est une première soupape de commutation (14, 102a, 102b, 120a, 120b) et la deuxième soupape est une deuxième soupape de commutation (22),
    dans lequel des opérations de commutation de la première soupape de commutation (14, 102a, 102b, 120a, 120b) et de la deuxième soupape de commutation (22) sont exécutées sur la base des pressions détectées par les unités de détection de pression (30, 32),
    dans lequel la commande d'entraînement de la première soupape de commutation (14, 102a, 102b, 120a, 120b) et la commande d'entraînement de la deuxième soupape de commutation (22) sont exécutées par un dispositif de commande (C), et
    dans lequel le dispositif de commande (C) est configuré pour mettre en œuvre le procédé d'entraînement selon la revendication 1.
  4. Dispositif d'entraînement selon la revendication 3, dans lequel la première soupape de commutation (14) est une soupape à cinq voies.
  5. Dispositif d'entraînement selon la revendication 3, dans lequel la première soupape de commutation (102a, 102b) est une paire de soupapes à trois voies.
  6. Dispositif d'entraînement selon l'une quelconque des revendications 3 à 5, dans lequel la première soupape de commutation (120a, 120b) est une servo-soupape.
  7. Dispositif d'entraînement selon l'une quelconque des revendications 3 à 6, dans lequel l'unité d'alimentation de fluide d'évacuation est fournie intégralement avec le vérin à pression de fluide (12) ou la première soupape de commutation (14, 102a, 102b, 120a, 120b).
  8. Utilisation du dispositif d'entraînement selon l'une quelconque des revendications 3 à 7, dans un pistolet de soudage (68) configuré pour souder une pièce à usiner (W) .
EP18867312.3A 2018-05-21 2018-07-25 Procédé d'entraînement et dispositif d'entraînement pour vérin à pression de fluide Active EP3597933B1 (fr)

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JP2018096738A JP6467733B1 (ja) 2018-05-21 2018-05-21 流体圧シリンダの駆動方法及び駆動装置
PCT/JP2018/027817 WO2019225022A1 (fr) 2018-05-21 2018-07-25 Procédé d'entraînement et dispositif d'entraînement pour vérin à pression de fluide

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TWI737194B (zh) * 2020-02-24 2021-08-21 國家中山科學研究院 氣動式升降裝置
CN113467531A (zh) * 2020-03-31 2021-10-01 住友重机械工业株式会社 载物台装置及载物台控制装置
CN111425472A (zh) * 2020-04-15 2020-07-17 上汽大众汽车有限公司 一种用于气动伺服系统的安全卸气装置及气动伺服系统
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DE102022200141B3 (de) 2022-01-10 2023-06-07 Festo Se & Co. Kg Ventilanordnung und damit ausgestattetes Antriebssystem

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TW202004032A (zh) 2020-01-16
EP3597933A1 (fr) 2020-01-22
JP2019203513A (ja) 2019-11-28
KR102511681B1 (ko) 2023-03-20
BR112020023671A2 (pt) 2021-02-17
EP3597933A4 (fr) 2020-03-25
MX2020012456A (es) 2021-02-09
KR20210013146A (ko) 2021-02-03
TWI667418B (zh) 2019-08-01
US11300143B2 (en) 2022-04-12
US20210199140A1 (en) 2021-07-01
CN110741167A (zh) 2020-01-31
JP6467733B1 (ja) 2019-02-13

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